The invention discloses a wall-climbing robot, a robot motion control method and device and a medium. The wall-climbing robot comprises a crawler-type magnetic adsorption wall-climbing robot shell, a robot motion control unit and a tilt angle sensor. Two driving motors are arranged in a shell of the crawler-type magnetic adsorption wall-climbing robot; the driving motor is used for driving a corresponding movement mechanism in a shell of the crawler-type magnetic adsorption wall-climbing robot; the tilt angle sensor is used for acquiring a real-time tilt angle value of the wall-climbing robot and sending the real-time tilt angle value to the robot motion control unit; and the robot motion control unit is used for determining a control strategy of each driving motor in a shell of the crawler-type magnetic adsorption wall-climbing robot according to the real-time inclination angle value, and controlling the driving motors according to the control strategy. By the adoption of the technical scheme, the wall-climbing robot can move on the vertical wall in the preset movement direction, and movement angle deviation of the wall-climbing robot is avoided.

    本发明公开了一种爬壁机器人、机器人运动控制方法、装置及介质。爬壁机器人包括:履带式磁吸附爬壁机器人壳体、机器人运动控制单元以及倾角传感器;履带式磁吸附爬壁机器人壳体中包括两个驱动电机;所述驱动电机用于驱动履带式磁吸附爬壁机器人壳体中相应的运动机构;倾角传感器用于获取爬壁机器人的实时倾角值,并将所述实时倾角值发送至所述机器人运动控制单元;机器人运动控制单元用于根据所述实时倾角值,确定履带式磁吸附爬壁机器人壳体中各驱动电机的控制策略,并根据所述控制策略对所述驱动电机进行控制。采用上述技术方案,能够使得爬壁机器人在垂直墙壁上沿预设的运动方向运动,避免爬壁机器人的运动角度偏移。


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    Title :

    Wall-climbing robot, robot motion control method and device and medium


    Additional title:

    爬壁机器人、机器人运动控制方法、装置及介质


    Contributors:
    JIANG JUN (author) / ZHOU YOUYOU (author) / QI PENGCHAO (author) / HUANG MINGHAO (author) / CHEN SHANQING (author) / TANG ANTAO (author) / LING PENG (author) / LIU XIANGDONG (author) / HUANG WENHAN (author) / XIAO CHANG (author) ... [more]

    Publication date :

    2024-01-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge



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